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I had a similar problem with a 1993 Dodge Dakota 4x4 club cab. With in the first year of ownership I had difficulty with the shifting from park to drive , the gear shift lever would not move or sometimes it would get stuck in neutral and I could not get it out. I took it into the local Chrysler/ Dodge dealer and they determined it was the park sprague. But after they replaced that part it continued to happpen. So, then after they contacted Chrysler Engineers they settled on replacing the back end of the transmission from a 1994 model year. That fixed the problem. They said the rod that goes from your gear shift lever into the transmission case did not line up properly with the stuff inside the transmission, therefore causing it to hang up. I am not sure if this is your same situation or not.

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You could have a shop check pump pressure - usually the cause is a weak pump or problems with the valve body. Chances are if you just sit in drive at idle, it will also move on its own in a couple of minutes once the fluid warms up.I never recommend changing fluid after 100k.

Your shift cable has came unhooked from either your transmission or your shifter. Most likely it’s at the trans. There are little plastic retainers at the ends of the shift cables that get old and brittle and will break. You may be able to match one up from a auto parts store but sometimes you have to replace the whole cable.. The vehicle will not start because it’s still in gear, no vehicle will start unless it’s in either park or neutral..

does the gear shifter move? if the gear shifter moves and it wont shift then you have broken linkage, if it wont move you may have ignition linkage problems or the button may not be pushing in all the way, also the brake pedal is tied in too

I don't have the shifting schematics for THIS vehicle .
However, they are available in the vehicle's repair manual. If you obtain this manual look for what is common between 2nd gear, final drive and overdrive this is your problem.
Remember they source of the problem may require a rebuild of the transmission. You may want to save some time and just give it to a repair shop.

Try to check the trans mission gears of your 1995 jeep grand cherokee.The shift fork and the clutch sleeve of the trans mission is locking to the other gears .And then also check the starter motor and its solenoid.if the starter motor solenoid is destroyed or worn out replace .